Ankle-Foot Prosthesis for Automatic Adaptation to Sloped Walking Surfaces

ABSTRACT

An ankle-foot prosthesis includes a foot plate, an ankle frame attached to the foot plate, a yoke pivotally connected to the ankle frame and including a member for attaching to a leg, a damper having a first end connected to the yoke and a second end connected to the ankle frame, and a control mechanism for switching the damper between low and high settings.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a divisional of U.S. application Ser. No.16/404,777, filed May 7, 2019, which application is a divisionalapplication of U.S. application Ser. No. 15/434,533, filed Feb. 16,2017, which is a continuation-in-part (CIP) application of U.S.application Ser. No. 15/359,242, filed Nov. 22, 2016, now U.S. Pat. No.10,105,243, which is a continuation application of U.S. application Ser.No. 14/022,645, filed Sep. 10, 2013, now U.S. Pat. No. 9,549,827, whichclaims priority based on prior two (2) U.S. Provisional Applications No.61/703,799, filed Sep. 21, 2012, and No. 61/851,740, filed Mar. 13,2013, all of which are hereby incorporated herein in their entirety byreference. The present application is further related to InternationalApplication No. PCT/US2007/022208, filed Oct. 17, 2007 (WO 2008/048658,Apr. 24, 2008) (U.S. application Ser. No. 12/311,818, filed Apr. 13,2009, Published as US 2010/0185301, on Jul. 22, 2010), U.S. applicationSer. No. 12/462,056, filed Jul. 28, 2009 (Published as US 2010/0030343,on Feb. 4, 2010), U.S. application Ser. No. 13/066,361, filed Apr. 12,2011 (Published as US 2012/0016493, on Jan. 19, 2012), U.S. applicationSer. No. 13/374,881, filed Jan. 20, 2012 (Published as US 2013/0006386,on Jan. 3, 2013), and International Application No. PCT/US2011/000675,filed Apr. 4, 2011 (WO 2011/129892, Oct. 20, 2011), all of which arehereby incorporated herein in their entirety by reference.

FIELD AND BACKGROUND OF THE INVENTION

The present invention is generally directed to prosthetic and orthoticdevices, and more particularly to an ankle-foot prosthesis for automaticadaptation to level, as well as sloped walking surfaces. Even moreparticularly, the invention is directed to a device or system for use bylower limb amputees to more easily and safely walk over a variety ofsloped terrain, as well as to provide more stability during standing andswaying tasks.

Most currently available prosthetic ankle devices are spring-likestructures that operate about one equilibrium point (i.e., one restingangle). These systems can work nicely on level terrain but causeinstabilities when lower limb prosthesis users walk on sloped surfaces.Many systems have been described that use hydraulic dampers and/orvariations of damping to adjust the properties of the prosthesis (Mauch,1958—U.S. Pat. No. 2,843,853; Koniuk, 2002—U.S. Pat. No. 6,443,993;Moser et al, 2011—U.S. Pat. No. 7,985,265), including the use ofmicroprocessor-control to adjust damping properties. The inherentproblem with damping control of the ankle is the associated loss ofenergy that occurs. One system exists that uses a motor to change theequilibrium point of a spring-like prosthetic foot (Jonsson et al,2011—U.S. Pat. No. 8,048,172). However, this system requires multiplesteps on a new terrain before it is able to adapt to the new slope. Amore desirable system would adapt to different sloped surfaces on eachand every step of walking. Lastly, powered ankle-foot systems are beingdeveloped (Hugh Herr, Massachusetts Institute of Technology; ThomasSugar, Arizona State University; Michael Goldfarb, VanderbiltUniversity). These systems all actively push the prosthesis user with amotor during various times in the gait cycle and require large powersources, e.g., heavy batteries and motors. The only currently availablesystem on the market (iWalk BiOM) is expensive, making it impracticalfor the majority of lower limb prosthesis users. Also, the high powerrequirements necessitate carrying additional batteries and frequentcharging of batteries.

SUMMARY OF THE INVENTION

The invention concerns an ankle-foot prosthesis. In one exampleembodiment the ankle-foot prosthesis comprises a foot plate, an ankleframe, a yoke, a hydraulic damper, a stiffness member, and a fluidcircuit. The foot plate includes a rear portion and a forwarddeflectable portion. The ankle frame includes anterior and posteriorportions and an apex portion. The posterior portion of the ankle frameattaches to the rear portion of the foot plate. The anterior portion ofthe ankle frame includes a curved surface inclined upwardly relative tothe foot plate and forwardly toward the forward deflectable portion ofthe foot plate. The curved surface forms a roll-over surface forlimiting a dorsiflexion deflection of the forward deflectable portion ofthe foot plate by a direct engagement therewith. The yoke includes frontand rear end portions, and a fulcrum point therebetween. The yoke ispivotally connected to the apex portion of the ankle frame at thefulcrum point thereof and includes a member for attaching to aprosthetic leg. The hydraulic damper has a first end pivotally connectedto the rear end portion of the yoke and a second end pivotally connectedto the ankle frame. The stiffness member is disposed in parallel to thedamper. The fluid circuit is for controlling extension and compressionof the damper.

By way of example, the fluid control circuit includes a cutoff valve forallowing dorsiflexion and plantarflexion of the ankle-foot prosthesis.In another example, the cutoff valve allows movement of the ankle-footprosthesis during a gait cycle between prosthetic side toe off and thenext prosthetic side foot flat. Further by way of example, the cutoffvalve allows extension of the damper during a gait cycle at leastbetween prosthetic side toe off and 0 to 0.13 seconds thereafter. In aparticular example, the fluid control circuit further comprises firstand second check valves. The first check valve is arranged in parallelwith the second check valve. The first check valve is for allowingcompression of the damper and the second check valve for allowingextension of the damper. In a particular example, the fluid controlcircuit further comprises at least one variable fluid-flow resistor andfirst and second check valves. The at least one variable fluid-flowresistor is for adjusting hydraulic fluid resistance in plantarflexion.The first check valve is arranged in parallel with the second checkvalve.

The first check valve is for allowing compression of the damper and thesecond check valve for allowing extension of the damper. In a particularexample, the fluid control circuit further comprises first and secondcheck valves and first and second variable fluid-flow resistors. Thefirst check valve is arranged in parallel with the second check valve.The first check valve is for allowing compression of the damper and thesecond check valve is for allowing extension of the damper. The firstvariable fluid-flow resistor is arranged in parallel with the secondvariable fluid-flow resistor. The first variable fluid-flow resistor isfor adjusting hydraulic fluid resistance in plantarflexion and thesecond variable fluid-flow resistor for adjusting hydraulic fluidresistance in dorsiflexion.

In an example, the ankle-foot prosthesis further comprises at least onecheck valve for the fluid control circuit for allowing compression ofthe damper. In a particular example, the fluid circuit further comprisesa cutoff valve for allowing dorsiflexion of the ankle-foot prosthesis.

In a further example, the ankle-foot prosthesis further comprise atleast one variable fluid-flow resistor for the fluid control circuit foradjusting hydraulic fluid resistance in dorsiflexion, plantarflexion, orboth. In a particular example, the fluid control circuit furthercomprises first and second check valves and first and a cutoff valve.The first check valve is arranged in parallel with the second checkvalve. The first check valve is for allowing compression of the damperand the second check valve is for allowing extension of the damper. Thecutoff value is for allowing dorsiflexion of the ankle-foot prosthesis.

By way of example, the stiffness member comprises a spring or an elasticmember. In a further example the spring comprises at least one of acompression spring, an extension spring, a compression tube spring, anextension tube spring, and a curved leaf spring.

By way of example, the fluid control circuit further comprises first andsecond check valves. The first check valve is arranged in parallel withthe second check valve. The first check valve allows compression of thedamper and the second check valve allows extension of the damper. In aparticular example, the fluid control circuit further comprises firstand second cutoff valves. The first cutoff valve is arranged in parallelwith the second cutoff valve. The first cutoff valve is for allowingplantarflexion of the ankle-foot prosthesis and the second cutoff valveis for allowing dorsiflexion of the ankle-foot prosthesis. In aparticular example, the fluid control circuit further comprises firstand second variable fluid-flow resistors and a cutoff valve. The firstvariable fluid-flow resistor arranged in parallel with the secondvariable fluid-flow resistor. The first variable fluid-flow resistor isfor adjusting hydraulic fluid resistance in plantarflexion and thesecond variable fluid-flow resistor is for adjusting hydraulic fluidresistance in dorsiflexion. The cutoff valve is for allowingdorsiflexion of the ankle-foot prosthesis. In a particular example, thefluid control circuit further comprises first and second cutoff valvesand first and second variable fluid-flow resistors. The first cutoffvalve is arranged in parallel with the second cutoff valve. The firstcutoff valve is for allowing plantarflexion of the ankle-foot prosthesisand the second cutoff valve is for allowing dorsiflexion of theankle-foot prosthesis. The first variable fluid-flow resistor isarranged in parallel with the second variable fluid-flow resistor. Thefirst variable fluid-flow resistor is for adjusting hydraulic fluidresistance in plantarflexion, the second variable fluid-flow resistor isfor adjusting hydraulic fluid resistance in dorsiflexion.

In an example, the fluid control circuit further comprises first andsecond cutoff valves. The first cutoff valve is arranged in parallelwith the second cutoff valve. The first cutoff valve allowsplantarflexion of the ankle-foot prosthesis and the second cutoff valveallows dorsiflexion of the ankle-foot prosthesis.

By way of example, the fluid control circuit further comprises first andsecond variable fluid-flow resistors. The first variable fluid-flowresistor is arranged in parallel with the second variable fluid-flowresistor. The first variable fluid-flow resistor is for adjustinghydraulic fluid resistance in plantarflexion and the second variablefluid-flow resistor is for adjusting hydraulic fluid resistance indorsiflexion.

In an example, the fluid control circuit further comprises at least onevariable fluid-flow resistor for adjusting fluid resistance inplantarflexion. In a particular example, the fluid control circuitfurther comprises first and second check valves and first and secondcutoff valves. The first check valve is arranged in parallel with thesecond check valve. The first check valve is for allowing compression ofthe damper and the second check valve is for allowing extension of thedamper. The first cutoff valve is arranged in parallel with the secondcutoff valve. The first cutoff valve is for allowing plantarflexion ofthe ankle-foot prosthesis and the second cutoff valve is for allowingdorsiflexion of the ankle-foot prosthesis.

ASPECTS OF THE INVENTION

The present disclosure is directed to various aspects of the presentinvention.

One aspect of the present invention is to provide an ankle-footprosthesis that allows a user to have a more natural, and thus morecomfortable gait.

Another aspect of the present invention is to provide an ankle-footprosthesis that is more energy-efficient when used for walking or othergait.

Another aspect of the present invention is to provide an ankle-footprosthesis that is simple in design and construction and, thus, usesfewer parts or components, and requires no or low maintenance.

Another aspect of the present invention is to provide an ankle-footprosthesis that is compact and more durable than, for example, thoseusing multitude of mechanical parts leading to a higher rate of failure.

Another aspect of the present invention is provide an ankle-footprosthesis that resists or prevents undesirable backward swing, whichcould lead to imbalance or injury.

Another aspect of the present invention is to provide an ankle-footprosthesis that is quieter, light-weight, and less clumsy to use, andthus more user-friendly.

Another aspect of the present invention is to provide an ankle-footprosthesis that automatically adapts to different sloped walkingsurfaces on every step of walking.

Another aspect of the present invention is to provide an ankle-footprosthesis that can easily switch into a stable mode for standing orswaying, for example, when washing the dishes.

Another aspect of the present invention is to provide an ankle-footprosthesis, which includes a foot plate, an ankle frame attached to thefoot plate, a yoke pivotally connected to the ankle frame and includinga member for attaching to a leg, a damper having a first end connectedto the yoke and a second end connected to the ankle frame, and a controlmechanism for switching the damper between low and high settings.

Another aspect of the present invention is to provide an ankle-footprosthesis, which includes a foot plate, an ankle frame attached to thefoot plate and including anterior and posterior portions and an apexportion, a yoke pivotally connected to the apex portion of the ankleframe and including a member for attaching to a leg, a hydraulic damperhaving a first end pivotally connected to the yoke and a second endconnected to the posterior portion of the ankle frame; a spring disposedin parallel to the damper, and a control mechanism for controllingextension and compression of the damper.

Another aspect of the present invention is to provide a method of usingan ankle-foot prosthesis by an amputee, which includes a) providing anankle-foot prosthesis including i) a foot plate, ii) an ankle frameattached to the foot plate, iii) a yoke pivotally connected to the ankleframe and including a member for attaching to a leg, iv) a damper havinga first end connected to the yoke and a second end connected to theankle frame, and v) a control mechanism for switching the damper betweenlow and high settings to selectively control extension, compression, orboth extension and compression thereof; b) attaching the ankle-footprosthesis to a lower limb of the amputee; c) allowing the amputee toambulate for at least one gait cycle, wherein the gait cycle includes i)the ankle-foot prosthesis in an initial neutral position to a firstplantarflexion position such that the foot plate is substantially flaton a walking surface, and ii) the ankle-foot prosthesis in a toe-offplantarflexion position; d) switching the damper to the high extensionsetting substantially at the first plantarflexion position; and e)switching the damper to the low extension setting substantially at thetoe-off plantarflexion position.

In summary, the present invention is directed to a prosthetic ankle-footdevice that can automatically adapt its function for walking ondifferent sloped surfaces, allowing its user to walk on these surfaceswith more stability and confidence. The invention also provides a stablemode for standing and swaying tasks (e.g., washing the dishes).

BRIEF DESCRIPTION OF THE DRAWINGS

One of the above and other aspects, novel features and advantages of thepresent invention will become apparent from the following detaileddescription of the non-limiting preferred embodiment(s) of invention,illustrated in the accompanying drawings, wherein:

FIG. 1 is a perspective view of a preferred embodiment of the ankle-footprosthesis in accordance with the present invention;

FIG. 2 illustrates a blank timing plot for the ankle-foot prosthesis ofthe present invention, which can be used to create any gait cycle thatbegins with prosthetic heel contact (HC) and continues until the next HC(100% of the gait cycle);

FIG. 3 illustrates a plot of the theoretical vertical load on theprosthesis;

FIG. 4 illustrates a plot of the load on spring/damper combination atthe start of stance phase, the heel of the prosthesis making contactwith the surface, placing a compressive load on the spring/dampercombination;

FIG. 5 illustrates a plot of the damping values in each direction forthe damper during the gait cycle;

FIG. 6 illustrates a plot of the cylinder (damper) length;

FIG. 7 shows three hydraulic circuit symbols used for fluid circuitschematics shown in FIGS. 8-16;

FIGS. 8-16 disclose various preferred embodiments of the fluid controlcircuit (FCC) used in the present invention;

FIG. 17 discloses various types of stiffness or elastic members for usein the present invention;

FIG. 18 is a perspective view of a second embodiment of the ankle-footprosthesis in accordance with the present invention;

FIG. 19 discloses the ankle-foot prosthesis of FIG. 18, showing theankle in a plantarflexed state;

FIG. 20 is a view similar to FIG. 19, showing the ankle in a neutralstate, after dorsiflexion from the ankle angle in FIG. 19, and extensionof the stiffness member compared with its position in FIG. 19;

FIG. 21 shows the ankle-foot prosthesis of FIG. 18, showing the ankle ina neutral state;

FIG. 22 is a view similar to FIG. 21, showing plantarflexion of theankle and compression of the stiffness member when compared with itsposition in FIG. 21;

FIG. 23 is a rear perspective view of a third embodiment of theankle-foot prosthesis in accordance with the present invention;

FIG. 24 is a cross-sectional view taken along line 24-24 of FIG. 23,showing foot flat adapted to a declined surface (ankle plantarflexedrelative to foot flat on a level surface);

FIG. 25 is a view similar to FIG. 24, showing foot flat adapted to alevel surface (ankle plantarflexed relative to a swing phase ankleangle);

FIG. 26 is a view similar to FIG. 24, showing foot flat adapted to aninclined surface (ankle dorsiflexed relative to foot flat on a levelsurface);

FIG. 27 is a side cross-sectional view of a fourth embodiment of theankle-foot prosthesis in accordance with the present invention;

FIG. 28 is a side view of a fifth embodiment of the ankle-footprosthesis in accordance with the present invention;

FIG. 29 is a side cross-sectional view of a sixth embodiment of theankle-foot prosthesis in accordance with the present invention;

FIG. 30 is side cross-sectional view of a seventh embodiment of theankle-foot prosthesis in accordance with the present invention;

FIG. 31 is a side cross-sectional view of an eighth embodiment of theankle-foot prosthesis in accordance with the present invention;

FIG. 32 is side cross-sectional view of a ninth embodiment of theankle-foot prosthesis in accordance with the present invention;

FIG. 33 is a side cross-sectional view of the tenth embodiment of theankle-foot prosthesis in accordance with the present invention;

FIG. 34 is a side cross-sectional view of an eleventh embodiment of theankle-foot prosthesis in accordance with the present invention; and

FIGS. 35-45 disclose various alternate preferred embodiments of thefluid control circuit (FCC) used in the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT(S) OF THE INVENTION

Referring to FIG. 1, a preferred embodiment of the ankle-foot prosthesisAFP will be described. As shown, a generally pyramid-like attachmentpart 10, consistent with standard endoskeletal componentry inprosthetics, is provided at the top of a yoke 12, on the opposite endsof which are holes drilled for front and rear pivotal attachments 14 and16, respectively. The rear pivot 16 attaches to one end 17 of apreferably microprocessor controlled damper device 18 (to be describedin more detail below). A neutralizing spring 20 is connected in parallelto the damper 18, such that its length change is equal to that of thedamper.

The damper device 18 attaches on its other end 19 to an ankle frame 22,which has a yoke opening 24 and holes drilled at its posterior end 26 topivotally attach to the damper 18 using a shaft 28. The “ankle” of thedevice AFP is a shaft 30 connecting the yoke 12 with the apex 29 of theankle frame 22.

The ankle frame 22 attaches with one or more bolts (or other suitablefixation means) to the rear portion 32 of a flexible, yet deflectablerigid foot plate 34. The anterior end 36 of the ankle frame 22 includesa follower or upwardly inclined surface 38 that limits the deflection ofthe foot plate 34, such that the ankle-foot device AFP will take abiomimetic ankle-foot roll-over shape during walking. The geometry ofthe surface 38 is such that it provides the correct roll-over shape whenthe “ankle” is locked into a plantarflexed angle at the time of footflat of walking, i.e., an angle of about 10 to 15 degrees.

The damper 18 is designed to have different values for compression andextension damping that can be controlled by using a suitablemicroprocessor (not shown). Specifically, the microprocessor would havethe capability to variably manage the timing for opening and closing thevalves and the variable restriction element, shown in FIG. 7 anddescribed below in more detail. For walking, the compression damping isset to a very low level and is unchanged throughout the gait cycle. Theextension damping for walking is set to a very high level at thebeginning of the gait cycle and changes to a very low level damping atthe time of toe-off (which must be sensed using one or more sensors offorce, acceleration, or other properties). The extension damping canremain at a low level of damping for at least the time needed to returnthe ankle to a neutral or dorsiflexed position for swing phase and atmost the time to the next foot flat event of the prosthesis. Forstanding, both compression and extension damping levels can becontrolled to be very high, providing a flatter effective shape andincreasing the stability of the prosthesis user.

For a normal gait cycle, the heel of the system, shown in FIG. 1, willcontact the surface and the foot will “find the surface” under a lowstiffness of the neutralizing spring 20. The compression damping is lowso the ankle reacts primarily in this phase of gait to the neutralizingspring 20. The compression damping could be altered for differentpatients, but would be static throughout the gait cycle once set by theprosthetist or the user. After foot flat, the ankle is at a maximallyplantarflexed position and would normally start to dorsiflex. In thisinvention, the extension damping would be very high, essentially lockingthe ankle in a plantarflexed position. As the person rolls over thedevice, the flexible footplate 34 flexes up to the follower 38,producing a biomimetic ankle-foot roll-over shape. After the oppositefoot contacts the ground, energy is returned from the flexible footplate34 and the ankle goes into late stance plantarflexion (the angle atwhich it was set to at foot flat). As the prosthetic device leaves thewalking surface (toe-off), the extension damping switches a very lowlevel, allowing the neutralizing spring 20 to bring the ankle back to aneutral or slightly dorsiflexed position, which allows for toe clearanceduring the swing phase. The damping level needs to be low enough toallow the ankle to return to neutral during the first third or half ofthe swing phase. After the ankle has returned to neutral or a slightlydorsiflexed position and before the prosthesis gets to foot flat on thenext cycle, the extension damping should shift to a very high level forthe next cycle.

The operation of the ankle in the manner described above, allows thefoot to “find the surface” during walking. For uphill walking, the footfinds the surface in a more dorsiflexed position compared with that forlevel walking and thus the equilibrium point of the ankle is set in moredorsiflexion. For downhill walking, the foot finds the surface in a moreplantarflexed position compared with that for level walking. In thisway, the ankle-foot device automatically adapts to different terrain oneach and every step of walking. Also, the control mechanism for theankle would be relatively simple in that it only changes the extensiondamping of the damper 18 between two levels during walking. The controlmechanism also needs to determine when the ankle-foot system is in“walking” and “standing” modes and switch its behavior. For “standing”mode, the damping for both compression and extension of the damper 18should be set to very high, as mentioned earlier.

Referring to FIGS. 2-6, various timing plots for the ankle-footprosthesis AFP of the invention will now be described. The blank plot ofFIG. 2 can be used to create any gait cycle that begins with prostheticheel contact (HC) and continues until the next HC (100% of the gaitcycle). For the first 10% of the gait cycle, both feet are on the groundas weight transitions from the opposite limb to the prosthetic limb. Atapproximately 10%, the opposite toe is lifted from the floor (oppositetoe-off or OTO). When the opposite toe is off the ground, only theprosthetic foot is in contact with the walking surface and supportingthe weight of the body, so this is considered prostheticsingle-limb-support (40% of the gait cycle). This also corresponds tothe period of highest load on the prosthetic limb as the user rolls overtheir foot. At approximately 50% of the gait cycle, the opposite heelcontacts the surface (OHC) and weight begins to transition from theprosthetic limb to the sound limb. At approximately 60% of the gaitcycle, the prosthetic limb is lifted off the surface (toe-off or TO) andthe remainder of the gait cycle is sound side single limb support as theprosthetic limb swings through. (These numbers are approximate.) Modernconventional usages are changing to use Initial Contact, instead of HeelContact, because the heel is not always the first part of the foot tocome into contact with the walking surface (such as persons withdrop-foot syndrome or equinus deformity), but for this invention the twoshould be equivalent.

FIG. 3 illustrates a plot of the theoretical vertical load on theprosthesis. The plot shows the standard double-hump shape of thevertical component of the ground reaction force vector from standardgait analyses. The first peak corresponds to load acceptance on theprosthetic side, where the prosthesis is used to brake the descent ofthe body center of mass. The second peak occurs as the user pushes offof their prosthetic side and begins to transition onto their sound side(and occurs around opposite heel contact (OHC). The vertical load dropsto 0 as the toe leaves the surface (toe-off, TO) and remains therethrough swing phase. During single limb support, the vertical load canreach levels that are greater than body weight. For slow walking, thepeak load could be 1.1×BW (Body Weight), whereas for fast walking orsudden stumbles the peak load could be upwards of 1.5×BW (Body Weight).

FIG. 4 illustrates a plot of the load on the spring/damper combinationat the start of stance phase, the heel of the prosthesis making contactwith the surface, placing a compressive load on the spring/dampercombination. This load continues until the foot is resting flat againstthe walking surface. At that time, the user begins to roll over theirprosthetic foot. The damper is set to a high extension damping level, soit does not extend, thus the spring becomes an internal stress and whenthe user starts to roll over their foot, the compressive load veryrapidly switches to a small tensile load and then the tensile loadgradually increases as the user rolls over the foot. Near the end ofstance phase, the user has rolled over the prosthesis and begins to liftthe foot from the ground, reducing the tensile force on thespring-damper combination, until the toe is lifted from the surface. Atthis point the spring is still applying an internal force within thesystem but is unable to actuate motion because the damper is still in ahigh extension damping state and resists the spring. When the load isremoved, the hydraulic cutoff valve (fluid equivalent of a switch) isopened allowing the spring to extend and quickly return the foot to aneutral ankle position for swing phase.

FIG. 5 illustrates a plot of the damping values in each direction forthe damper during the gait cycle. In the direction of compression, thedamping during walking should be low enough to allow the foot to quicklyreach the surface, but not so low that the foot makes a slapping soundwhen it encounters the surface. The precise value will be dependent onthe weight, foot length, and gait mechanics of each individual user andwill parallel standard clinical practice for adjusting similarproperties of other commercially available components. Ideally theprecise amount of damping will be adjustable by the prosthetist forcustomization to the individual. For long-term standing tasks (doing thedishes, standing at a work station at work, etc.), an ideal embodimentwould also be able to raise the compression damping to near infinite(through the use of a cutoff valve) to improve stability when loadingthe heel, however this function is not of use during walking tasks. Theextension damping must be high or nearly infinite (closed cutoff valve,effectively fixing the length of the damper against extension) when theuser begins to roll over the foot (in the plot, this is shown asapproximately 5% of the gait cycle) and must remain so until the pointof toe-off. At the very beginning of swing phase, the cutoff valve isopened, allowing the damper to extend under the load from the springuntil the prosthesis has returned to a neutral position (ideally within0.13 seconds). After the foot has returned to a neutral position forswing phase, the cutoff valve can be closed again. Thus, the cutoffvalve could close as early as 0.13 seconds after toe-off or as late asat the moment of foot flat (approximated as 5% of the next gait cycle,but varies by step and surface conditions).

FIG. 6 illustrates a plot of the cylinder (damper) length. The currentmodel of the novel ankle-foot prosthesis has a damper with a fullyextended length of 70 mm, and a fully compressed length of 50 mm. Thiscorresponds to a 30-35 degree range of ankle motion. Other designs mayuse different numbers, however the relationships will still hold. Whenwalking on level ground, the ankle will plantarflex, allowing the footplate to become flat on the walking surface, during the firstapproximately 5-10% of the gait cycle. Once the foot is flat on thesurface and the user begins to roll over the foot, the damper is unableto extend, so the spring-damper combination remains at its partiallyextended length throughout the remainder of stance phase. When theprosthesis is lifted from the ground (TO), the cutoff valve is openedand the spring returns the foot to a neutral position for swing phase.When walking uphill, the foot will be flat on the surface in a moredorsiflexed position, so the foot will not plantarflex much during earlystance, whereas when walking downhill the foot will plantarflex muchmore before it is flat on the surface.

FIG. 7 shows three hydraulic circuit symbols used for fluid circuitschematics shown in FIGS. 8-16. The symbol used for the check valve 40is most commonly used to refer to a ball valve, although other types ofcheck valves may also be used. The variable restriction 42 is thedamping element of the circuit. There is some damping (fluid resistance)due to friction in the lines and passing through other elements of thecircuit, so there is a minimum level of damping regardless. Thus, insome embodiments, the restriction element is not present indicating theuse of innate damping alone. The reference numeral 44 designates acutoff value.

FIG. 8 discloses the most complex and powerful embodiment of the fluidcontrol circuit (FCC). The fluid circuit splits into two branches. Eachbranch has a check valve 40 oriented to permit fluid flow in eithercompression or extension alone, thereby separating the extension andcompression properties for the damper. In the compression line, there isprovided a variable restriction element 42, where the prosthetist couldadjust the damping level to optimize the prosthesis for the individualpatient. In the extension line, there is also a variable restrictionelement 42 that could be adjusted to tune the neutralization dampingafter toe-off to address any issues with the speed of neutralization orwith noises that could arise from underdamped neutralization. Both lineshave independent cutoff valves 44, allowing the extension damping to beraised to nearly infinite as appropriate during each step and then bothcutoff valves to be closed for standing tasks, making a stable base ofsupport for the user.

FIG. 9 discloses an embodiment that contains all of the adjustability ofthe embodiment of FIG. 8, but only a single cutoff valve 44 is used on acommon line to arrest both compression and extension of the dampersimultaneously. The advantage of this system over FIG. 8 is fewer parts(one fewer cutoff valve). The disadvantage of this system compared withthe embodiment of FIG. 8 is that sensors would need to be in place toinsure that the cutoff valve would open at the time of toe-off and closeat exactly the time of foot flat to prevent unexpected instability andpotential falls.

FIG. 10 discloses an embodiment that is similar to the embodiment ofFIG. 8, except it does not have a variable restriction element 42 on theextension line. Therefore, there is no way to tune the extension dampingfor neutralization after toe-off. This embodiment is more efficientbecause of the reduced number of components (saving weight, size andcost) but only if the fluid circuit can be optimized to allow the footto return to neutral within 0.13 seconds without oscillating or makingloud noises when it reaches the neutral position. This system retainsthe ability to cutoff both compression and extension for standing tasks.

FIG. 11 discloses an embodiment similar to the embodiments presented inboth FIGS. 9-10, however, it lacks the ability to adjust extensiondamping and has a single cutoff valve 44 to arrest motion in bothextension and compression simultaneously. This is even more efficient,having removed two components from the system and saving weight, size,and cost.

The embodiment of FIG. 12 is similar to the embodiment of FIG. 8, exceptthat it does not have a cutoff valve 44 in the compression line. Forthis reason, the compression damping will remain constant throughout thegait cycle and compression motion will not be arrested during standingtasks. Both lines have adjustable damping from the variable restrictionelements and the extension line still has a cutoff valve. Thisembodiment could be realized in a purely passive system, where thebiomechanics of walking (e.g. load on the prosthesis) control theopening and closing of the cutoff valve. For example, a spring-loadedhinge or telescoping element within the prosthesis could close thecutoff valve when load is applied to the prosthesis and open the cutoffvalve when load is removed from the prosthesis. It would not bepractical to rely on this type of physical input to control thecompression line for standing tasks, so none of the previous embodimentswould be practical for purely passive operation.

The embodiment of FIG. 13 is similar to the embodiments of FIGS. 10 and12, however, it also lacks the ability to adjust the damping in theextension line but saves weight, size, and cost. But it lacks theability to cutoff the compression line and therefore does not have thestanding stability feature of the earlier embodiments.

The embodiment of FIG. 14 is similar to the embodiment of FIG. 8, butlacks variable dampers 42. The level of resistance for compression canbe adjusted by the prosthetist by changing springs or by pre-compressingthe spring. Otherwise the function would be the same.

The embodiment of FIG. 15 is similar to the embodiment of FIG. 9, butlacks variable dampers 42. The level of resistance for compression canbe adjusted by the prosthetist by changing springs or by pre-compressingthe spring.

FIG. 16 shows our simplest embodiment. There is a check valve 40 topermit compression, but not extension, and then when the foot is to beneutralized the cutoff valve is opened, permitting extension bybypassing the check valve 40. Ideally the cutoff valve 44 would bemechanically opened and closed by loads applied during the gait cycle,resulting in a purely passive system with no batteries, microprocessors,or other electronic components, though this could be actuated by asolenoid or other actuator and controlled by electronics.

FIGS. 17-45 are directed to various alternate embodiments of thestiffness/elastic members, the ankle-foot prosthesis, and the fluidcontrol circuits used in the present invention. By way of a summary:FIG. 17 discloses illustrative examples of stiffness/elastic members;FIG. 18-22 show a second embodiment of the ankle-foot prosthesis AFP2that is similar to the embodiment shown in FIG. 1;

FIGS. 23-26 show a third embodiment of the ankle-foot prosthesis AFP3,in which the damper device is connected to the front end portion of theyoke; FIG. 27 discloses a fourth embodiment of the ankle-foot prosthesisAFP4, in which the damper and the spring are positioned in the front ofthe yoke; FIGS. 28-33 disclose fifth to tenth embodiments of theankle-foot prosthesis AFP5-AFP10, respectively, wherein the stiffnessmember is separate from the damper device; FIG. 34 discloses theeleventh embodiment of the ankle-foot prosthesis AFP11, in which thedamper device is connected to a rear portion of the yoke; and FIGS.35-45 disclose alternate embodiments of the fluid control circuits. (Itis noted herewith that for clarity, similar components have beendesignated by the same reference numerals in the embodiments shown inFIGS. 18-34. Further, similar components of the FCCs shown in FIGS.8-16, have been designated by the same reference numerals in FIGS.35-45.)

Referring to FIG. 17, various types of stiffness members can be used.Representative non-limiting examples include a compression spring 50, anextension spring 52, a compression tube spring 54, an extension tubespring 56, a curved leaf spring 58, and an elastic bumper 60.

Referring to FIGS. 18-22, a second embodiment of the ankle-footprosthesis AFP2 will now be described. As shown, an attachment part 62,consistent with endoskeletal componentry in prosthetics, is provided atthe top of a yoke 64 for attaching to a prosthetic leg PL (see FIG. 19,for example). The yoke 64 includes front and rear end portions 66 and68, respectively, and a fulcrum point 70 therebetween. The rear endportion 68 is pivotally attached to an upper end 72 of a preferablymicroprocessor-controlled damper device 74, via a shaft 75. The damperdevice 74 is similar to and functions in the same manner as the damper18, described above. Preferably, a compression spring 50 is connected inparallel to the damper 74, such that its length change is equal to thatof the damper. As shown, the compression spring 50 extends duringdorsiflexion (FIG. 20), and compresses during plantarflexion (FIG. 22).

The damper device 74 attaches on its lower end 76 to an ankle frame 78,which has a yoke opening 80 and holes drilled at its posterior end 82 topivotally attach to the damper device 74 via a shaft 84. As noted abovewith respect to the embodiment disclosed in FIG. 1, the “ankle” of thedevice AFP2 is a shaft 86 that connects the fulcrum point 70 of the yoke64 with the apex 88 of the ankle frame 78.

The ankle frame 78 attaches with one or more bolts (or other suitablefixation means) to the rear portion 90 of a flexible foot plate 92. Theanterior end 94 of the ankle frame 78 includes a follower or upwardlyinclined surface 96 that limits the deflection of the foot plate 92,such that the ankle-foot device AFP2 will take a biomimetic ankle-footroll-over shape during walking. The geometry of the surface 96 issimilar to and functions in the same manner as the surface 38 describedabove with respect to the embodiment shown in FIG. 1.

As best shown in FIGS. 19-22, the front end 66 of the yoke 64 remainsfree, while the rear end thereof 68 is connected to the damper 74. Asshown in FIGS. 19-20, the damper 74 extends during dorsiflexion, andcompresses during plantarflexion, as shown in FIGS. 21-22.

The third embodiment of the ankle-foot prosthesis AFP3, shown in FIGS.23-26, is similar to the second embodiment shown in FIGS. 18-22, exceptthat the upper end 72 of the damper 74 is pivotally connected to thefront end portion 66 of the yoke 64, leaving the rear end portion 68thereof free. In addition, as best shown in FIG. 23, the damper 74,along with the extension spring 52 extends through the yoke opening 80,from the posterior end portion 82 of the ankle frame 78, towards thefront thereof. As shown in FIG. 24 (with cosmetic cover CC), the footflat is adapted to a declined surface DS (the ankle plantarflexedrelative to foot flat on a level surface), with the spring 52 moreextended. Likewise, as shown in FIG. 25 (with cosmetic cover CC), thefoot flat is adapted to a level surface LS (the ankle plantarflexedrelative to a swing phase of ankle angle), with normal extension ofspring 52. In the same manner, as shown in FIG. 26 (with cosmetic coverCC), the foot flat is adapted to an inclined surface IS (the ankledorsiflexed relative to foot flat on a level surface), with lessextension of the spring 52. This configuration provides a long restlength for the damper.

FIG. 27 discloses a fourth embodiment of the ankle-foot prosthesis AFP4,wherein the damper device 74 and the spring 52 are both positioned inthe anterior end portion 94 of the ankle frame 78, and the upper end 72of the damper is pivotally connected to the front end portion 66 of theyoke 64. This configuration offers a short action of the damper and thestiffness member.

As noted above, FIGS. 28-33 disclose fifth through tenth embodiments ofthe ankle-foot prosthesis AFP5 to AFP10, wherein the stiffness member(for example, spring 52) is positioned separate from the damper device74. In particular, FIG. 28 discloses the fifth embodiment AFP5, whereinthe spring 52 is wedged between the front end portion 66 of the yoke 64,and the anterior end portion 94 of the ankle frame 74. Thisconfiguration allows varying sizes/lengths for the stiffness member andadjustability thereof independent of the damper, thus offering easiercustomization to a specific user.

FIG. 29 discloses the sixth embodiment of ankle-foot prosthesis AFP6,wherein the extension tube spring 56 functions as the stiffness memberthat is secured in place by a pin 98 in a recess 100 of the ankle frame78. It is noted that the extension tube spring 56 may be substituted byother types of stiffness members, such as elastic tensile, cord/loop,similar to a bundle of rubber bands.

FIG. 30 discloses the seventh embodiment of the ankle-foot prosthesisAFP7, which is similar to the fifth embodiment of FIG. 28, except thatthe spring 50 is positioned between the rear end portion 68 of the yoke64, and an abutment 102 of the ankle frame 78. In addition, thepositioning of the damper 74 is similar to that shown in the thirdembodiment AFP3 of FIG. 23.

FIGS. 31-33 disclose eighth, ninth and tenth embodiments of theankle-foot prosthesis AFP8, AFP9, AFP10, which are similar to theembodiments shown in FIG. 30, except that the spring 50 is substitutedby a curved leaf spring 58, a compression tube spring 54, and an elasticbumper 60, respectively. Additionally, the damper device 74 ispositioned in the same manner as in the third embodiment shown in FIG.23, offering the advantage(s) of a long rest length for the damper.

The eleventh embodiment of the ankle-foot prosthesis AFP11, shown inFIG. 34, is somewhat similar to the fourth embodiment of FIG. 27, exceptthat the upper end 72 of the damper 74 is pivotally connected to therear end portion 68 of the yoke 64, and the lower end 76 of the damper74 is pivotally connected to the ankle frame 78, adjacent the anteriorend portion 94 thereof. This configuration offers the advantage(s) ofproviding a more compact arrangement of components that will more easilyfit within a cosmetic cover and shoe.

Referring now to FIGS. 35-45, showing fluid control circuits (FCC). FIG.35 illustrates a simple embodiment, but that requires precise control toachieve the intended function of the ankle. FIG. 35 is a simpler versionof FIG. 15. It works identically to the FCC in FIG. 15, but does notrequire the two check valves 40 shown in FIG. 15. The cutoff valve 44must be open from toe-off until foot flat of the prosthesis, then itmust be closed from foot flat until toe-off. The FCC depictions in FIGS.8-16 and 35 pertain to embodiments where the damper connects to the rearportion of the yoke 68 (as in FIGS. 1, 18-22, 28, 29, and 34), whereasthe FCC depictions in FIGS. 36-45 pertain to embodiments where thedamper connects to the front portion of the yoke 66 (as in FIGS. 23-27and 30-33).

FIG. 36 discloses the most complex and powerful embodiment of the fluidcontrol circuit (FCC). The fluid circuit splits into two branches. Eachbranch has a check valve 40 oriented to permit fluid flow in eithercompression or extension alone, thereby separating the extension andcompression properties for the damper. In the extension line, there isprovided a variable restriction element 42, where the prosthetist couldadjust the damping level to optimize the prosthesis for the individualpatient. In the compression line, there is also a variable restrictionelement 42 that could be adjusted to tune the neutralization dampingafter toe-off to address any issues with the speed of neutralization orwith noises that could arise from underdamped neutralization. Both lineshave independent cutoff valves 44, allowing the compression damping tobe raised to nearly infinite as appropriate during each step (byselectively closing the compression line cutoff valve) and then bothcutoff valves to be closed for standing tasks, making a stable base ofsupport for the user.

FIG. 37 discloses an embodiment that contains all of the adjustabilityof the embodiment of FIG. 36, but only a single cutoff valve 44 is usedon a common line to arrest both compression and extension of the dampersimultaneously. The advantage of this system over FIG. 36 is fewer parts(one fewer cutoff valve). The disadvantage of this system compared withthe embodiment of FIG. 36, is that sensors would need to be in place toensure that the cutoff valve 44 would open at the time of toe-off andclose at exactly the time of foot flat to prevent unexpected instabilityand potential falls.

FIG. 38 discloses an embodiment that is similar to the embodiment ofFIG. 36, except it does not have a variable restriction element 42 onthe compression line. Therefore, there is no way to tune the compressiondamping for neutralization after toe-off. This embodiment is moreefficient because of the reduced number of components (saving weight,size and cost) but only if the fluid circuit can be optimized to allowthe foot to return to neutral within 0.13 seconds without oscillating ormaking loud noises when it reaches the neutral position. This systemretains the ability to cutoff both compression and extension forstanding tasks.

FIG. 39 discloses an embodiment similar to the embodiments presented inboth FIGS. 37-38, however, it lacks the ability to adjust compressiondamping and has a single cutoff valve 44 to arrest motion in bothextension and compression simultaneously. This is even more efficient,having removed two components from the system and saving weight, size,and cost.

The embodiment of FIG. 40 is similar to the embodiment of FIG. 36,except that it does not have a cutoff valve 44 in the extension line.For this reason, the extension damping will remain constant throughoutthe gait cycle and extension motion will not be arrested during standingtasks. Both lines have adjustable damping from the variable restrictionelements and the compression line still has a cutoff valve 44. Thisembodiment could be realized in a purely passive system, where thebiomechanics of walking (e.g. load on the prosthesis) control theopening and closing of the cutoff valve 44. For example, a spring-loadedhinge or telescoping element within the prosthesis could close thecutoff valve 44 when load is applied to the prosthesis and open thecutoff valve 44 when load is removed from the prosthesis. It would notbe practical to rely on this type of physical input to control theextension line for standing tasks, so none of the previous embodimentswould be practical for purely passive operation.

The embodiment of FIG. 41 is similar to the embodiments of FIGS. 38 and40, however, it also lacks the ability to adjust the damping in thecompression line but saves weight, size, and cost. But it lacks theability to cutoff the extension line and therefore does not have thestanding stability feature of the earlier embodiments.

The embodiment of FIG. 42 is similar to the embodiment of FIG. 36, butlacks variable dampers 42. The level of resistance for extension can beadjusted by the prosthetist by changing springs or by pre-compressingthe spring. Otherwise the function would be the same.

The embodiment of FIG. 43 is similar to the embodiment of FIG. 37, butlacks variable dampers 42. The level of resistance for extension can beadjusted by the prosthetist by changing springs or by pre-compressingthe spring.

FIG. 44 shows a simple embodiment. There is a check valve 40 to permitextension, but not compression, and then when the foot is to beneutralized the cutoff valve is opened, permitting compression bybypassing the check valve 40. Ideally, the cutoff valve 44 would bemechanically opened and closed by loads applied during the gait cycle,resulting in a purely passive system with no batteries, microprocessors,or other electronic components, though this could be actuated by asolenoid or other actuator and controlled by electronics.

FIG. 45 shows our simplest embodiment, but that requires precise controlto achieve the intended function of the ankle, and is a simpler versionof FIG. 43. It works identically to the FCC in FIG. 43, but does notrequire the two check valves 40 shown in FIG. 43.

While this invention has been described as having preferred sequences,ranges, steps, order of steps, materials, structures, symbols, indicia,graphics, color scheme(s), shapes, configurations, features, components,or designs, it is understood that it is capable of furthermodifications, uses and/or adaptations of the invention following ingeneral the principle of the invention, and including such departuresfrom the present disclosure as those come within the known or customarypractice in the art to which the invention pertains, and as may beapplied to the central features hereinbefore set forth, and fall withinthe scope of the invention and of the limits of the claims appendedhereto or presented later. The invention, therefore, is not limited tothe preferred embodiment(s) shown/described herein.

REFERENCES

The following references, and any cited in the disclosure herein, arehereby incorporated herein in their entirety by reference.

1. Hansen, A., Childress, D., Miff, S., Gard, S., Mesplay, K. (2004) TheHuman Ankle During Walking: Implications for Design of Biomimetic AnkleProstheses and Orthoses. Journal of Biomechanics, Vol. 37, No. 10,1467-1474.

2. Williams R J, Hansen A H, Gard S A. (2009) Prosthetic Ankle-FootMechanism Capable of Automatic Adaptation to the Walking Surface.Journal of Biomechanical Engineering, Vol., 131, No. 3, 035002.

3. Hansen A, Brielmaier S, Medvec J, Pike A, Nickel E, Merchak P, WeberM (2012) Prosthetic Foot with Adjustable Stability and its Effects onBalance and Mobility. 38th Annual Meeting and Scientific Symposium ofthe American Academy of Orthotists and Prosthetists, March 21-24,Atlanta. Ga.

4. Nickel E A, Hansen A H, Gard S A. (2012) Prosthetic Ankle-Foot Systemthat Adapts to Sloped Surfaces. ASME Journal of Medical Devices, Vol. 6,No. 1, 011006.

What is claimed is:
 1. An ankle-foot prosthesis, comprising: a) a foot plate including a rear portion and a forward deflectable portion; b) an ankle frame including anterior and posterior portions and an apex portion; c) said posterior portion of said ankle frame attached to said rear portion of said foot plate; d) a yoke including front and rear end portions, and a fulcrum point therebetween; e) said yoke pivotally connected to said apex portion of said ankle frame at the fulcrum point thereof and including a member for attaching to a prosthetic leg; f) a hydraulic damper having a first end pivotally connected to the rear end portion of said yoke and a second end pivotally connected to said ankle frame; g) a stiffness member disposed in parallel to said damper; h) a fluid control circuit for controlling extension and compression of said damper; i) said anterior portion of said ankle frame including a curved surface inclined upwardly relative to said foot plate and forwardly toward said forward deflectable portion of said foot plate; and j) said curved surface forming a roll-over surface for limiting a dorsiflexion deflection of said forward deflectable portion of said foot plate by a direct engagement therewith.
 2. The ankle-foot prosthesis of claim 1, wherein: a) said fluid control circuit includes a cutoff valve for allowing dorsiflexion and plantarflexion of said ankle-foot prosthesis.
 3. The ankle-foot prosthesis of claim 2, wherein: a) said cutoff valve allows movement of said ankle-foot prosthesis during a gait cycle between prosthetic side toe off and the next prosthetic side foot flat.
 4. The ankle-foot prosthesis of claim 2, wherein: a) said cutoff valve allows extension of said damper during a gait cycle at least between prosthetic side toe off and 0 to 0.13 seconds thereafter.
 5. The ankle-foot prosthesis of claim 1, further comprising: a) at least one check valve for said fluid control circuit for allowing compression of said damper.
 6. The ankle-foot prosthesis of claim 1, further comprising: a) at least one variable fluid-flow resistor for said fluid control circuit for adjusting hydraulic fluid resistance in dorsiflexion, plantarflexion, or both.
 7. The ankle-foot prosthesis of claim 1, wherein: a) said stiffness member comprises a spring or an elastic member.
 8. The ankle-foot prosthesis of claim 1, wherein: a) said spring comprises at least one of a compression spring, an extension spring, a compression tube spring, an extension tube spring, and a curved leaf spring.
 9. The ankle-foot prosthesis of claim 1, further comprising first and second check valves for said fluid control circuit, said first check valve arranged in parallel with said second check valve, said first check valve for allowing compression of said damper, said second check valve for allowing extension of said damper.
 10. The ankle-foot prosthesis of claim 1, further comprising first and second cutoff valves for said fluid control circuit, said first cutoff valve arranged in parallel with said second cutoff valve, said first cutoff valve for allowing plantarflexion of said ankle-foot prosthesis, said second cutoff valve for allowing dorsiflexion of said ankle-foot prosthesis.
 11. The ankle-foot prosthesis of claim 1, further comprising first and second variable fluid-flow resistors for said fluid control circuit, said first variable fluid-flow resistor arranged in parallel with said second variable fluid-flow resistor, said first variable fluid-flow resistor for adjusting hydraulic fluid resistance in plantarflexion, said second variable fluid-flow resistor for adjusting hydraulic fluid resistance in dorsiflexion.
 12. The ankle-foot prosthesis of claim 1, further comprising at least one variable fluid-flow resistor for said fluid control circuit, said at least one variable fluid-flow resistor for adjusting fluid resistance in plantarflexion.
 13. The ankle-foot prosthesis of claim 2, further comprising first and second check valves for said fluid control circuit, said first check valve arranged in parallel with said second check valve, said first check valve for allowing compression of said damper, said second check valve for allowing extension of said damper.
 14. The ankle-foot prosthesis of claim 2, further comprising: at least one variable fluid-flow resistor for said fluid control circuit for adjusting hydraulic fluid resistance in plantarflexion; and first and second check valves for said fluid control circuit, said first check valve arranged in parallel with said second check valve, said first check valve for allowing compression of said damper, said second check valve for allowing extension of said damper.
 15. The ankle-foot prosthesis of claim 2, further comprising: first and second check valves for said fluid control circuit, said first check valve arranged in parallel with said second check valve, said first check valve for allowing compression of said damper, said second check valve for allowing extension of said damper; and first and second variable fluid-flow resistors for said fluid control circuit, said first variable fluid-flow resistor arranged in parallel with said second variable fluid-flow resistor, said first variable fluid-flow resistor for adjusting hydraulic fluid resistance in plantarflexion, said second variable fluid-flow resistor for adjusting hydraulic fluid resistance in dorsiflexion.
 16. The ankle-foot prosthesis of claim 5, further comprising a cutoff valve for said fluid control circuit for allowing dorsiflexion of said ankle-foot prosthesis.
 17. The ankle-foot prosthesis of claim 6, further comprising: first and second check valves for said fluid control circuit, said first check valve arranged in parallel with said second check valve, said first check valve for allowing compression of said damper, said second check valve for allowing extension of said damper; and a cutoff value for said fluid control circuit for allowing dorsiflexion of said ankle-foot prosthesis.
 18. The ankle-foot prosthesis of claim 9, further comprising first and second cutoff valves for said fluid control circuit, said first cutoff valve arranged in parallel with said second cutoff valve, said first cutoff valve for allowing plantarflexion of said ankle-foot prosthesis, said second cutoff valve for allowing dorsiflexion of said ankle-foot prosthesis.
 19. The ankle-foot prosthesis of claim 9, further comprising: first and second variable fluid-flow resistors for said fluid control circuit, said first variable fluid-flow resistor arranged in parallel with said second variable fluid-flow resistor, said first variable fluid-flow resistor for adjusting hydraulic fluid resistance in plantarflexion, said second variable fluid-flow resistor for adjusting hydraulic fluid resistance in dorsiflexion; and a cutoff valve for said fluid control circuit for allowing dorsiflexion of said ankle-foot prosthesis.
 20. The ankle-foot prosthesis of claim 9, further comprising: first and second cutoff valves for said fluid control circuit, said first cutoff valve arranged in parallel with said second cutoff valve, said first cutoff valve for allowing plantarflexion of said ankle-foot prosthesis, said second cutoff valve for allowing dorsiflexion of said ankle-foot prosthesis; and first and second variable fluid-flow resistors for said fluid control circuit, said first variable fluid-flow resistor arranged in parallel with said second variable fluid-flow resistor, said first variable fluid-flow resistor for adjusting hydraulic fluid resistance in plantarflexion, said second variable fluid-flow resistor for adjusting hydraulic fluid resistance in dorsiflexion.
 21. The ankle-foot prosthesis of claim 12, further comprising: first and second check valves for said fluid control circuit, said first check valve arranged in parallel with said second check valve, said first check valve for allowing compression of said damper, said second check valve for allowing extension of said damper; and first and second cutoff valves for said fluid control circuit, said first cutoff valve arranged in parallel with said second cutoff valve, said first cutoff valve for allowing plantarflexion of said ankle-foot prosthesis, said second cutoff valve for allowing dorsiflexion of said ankle-foot prosthesis. 